HiepLM/pnkx_nav_core
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update 2/2

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HiepLM
2026-02-02 14:02:25 +07:00
parent 1fa6af01fd
commit 15f842d703
13 changed files with 788 additions and 520 deletions
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4
src/Navigations/Packages/move_base/src/move_base.cpp
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@@ -221,7 +221,7 @@ void move_base::MoveBase::initialize(robot::TFListenerPtr tf)
try
{
robot::PluginLoaderHelper loader;
std::string path_file_so = loader.findLibraryPath("CustomPlanner");
std::string path_file_so = loader.findLibraryPath(global_planner);
planner_loader_ = boost::dll::import_alias<robot_nav_core::BaseGlobalPlanner::Ptr()>(
path_file_so, global_planner, boost::dll::load_mode::append_decorations);
@@ -257,7 +257,7 @@ void move_base::MoveBase::initialize(robot::TFListenerPtr tf)
try
{
robot::PluginLoaderHelper loader;
std::string path_file_so = loader.findLibraryPath("LocalPlannerAdapter");
std::string path_file_so = loader.findLibraryPath(local_planner);
controller_loader_ =
boost::dll::import_alias<robot_nav_core::BaseLocalPlanner::Ptr()>(
path_file_so, local_planner, boost::dll::load_mode::append_decorations);